Torpedo with rolling hull



Oct. 6, 1953 c. c. WHEELER TORPEDO WITH ROLLING HULL 2 Sheets-Sheet 1 Filed July 20, 1950 m W M VH w T T 2 R 2M SYU :H, B C

Oct- 6, 1953 c. c. WHEELER 2,654,334

TORPEDO WITH ROLLING HULL Filed July 20, 1950 2 Sheets-Sheet 2 INVENTOR. CHESTER C. WHEELER ATRNE Patented Oct. 6, 1953 UNITED A'ES- (Granted under Title 35, U. S. Code (1952),

see. 266) 14 Claims.

This invention relates to fluid borne vehicles, and more particularly to an underwater vehicle such as a torpedo.

It is an object of this invention to provide improved stabilized guidance means for a torpedo.

It is another object of this invention to provide guidance means for a torpedo in which the casing or shell of the torpedo is allowed to freely revolve or roll about the carriage or chassis of the torpedo, so that only the latter need be stabilized, and the rolling forces on the casing need not be fought or compensated.

Other objects and many of the attendant advantages of this invention will be readily appreciated as the same becomes better understood by reference to the following description.

The torpedo of the instant invention comprises a carriage or chassis which is enclosed within an elongate casing or shell. The casing is rotatably mounted on the carriage so that it may freely roll thereabouts, and the carriage is stabilized by some suitable mechanism such as a gyroscope. The problem is then to transfer the control and guidance from the controlling means on the carriage to the outside of the casing, so that it may directly influence the attitude and course which the torpedo pursues.

This problem is met in the instant invention by the provision of two pairs of rudder controls disposed at right angles to each other and conversely of the torpedo which are so interlinked within the casing that the rudders automatically change position as the casing rolls about the carriage to continuously deflect the torpedo in the same direction, irrespective of rolling of the casing.

Two examples of means for practicing the instant invention have been illustrated in the following drawings, wherein:

Fig. l is a perspective schematic view illustrative of the principles of the instant invention;

Fig. 2 is a fragmentary, longitudinal cross-section of the invention illustrated schematically in Fig. l; and

Fig. 3 illustrates a separate species of the instant invention.

Referring to Fig. 1, ll designates a first body, in this case a torpedo carriage or chassis, stabilized in space by a suitable means such as a gyroscope (not shown). A second body is rotatably mounted to the carriage II. This second body comprises a casing or shell l2 mounted around the carriage H by means of a series of roller bearings l3, so that the casing i2 is free to rotate or roll about the carriage I l without afi'ect- 2. ing the carriage in the least except for the slightfrictional drag introduced through the roller bearings l3.

Pivoted in the casing l 2 on an axis transverse to the. torpedo axis is a first pair of aligned rudder shafts [4, which pass laterally through the casing l2, one on each side thereof. Rudders 16 are secured to the shafts l4. Spanning and connected to the facing ends of the shafts M is a generally semi-circular yoke 'H, having a longitudinal slot I8 therein. A second pair of aligned shafts I9 is journalled in the casing [2 on an axis transverse to the axis of the shafts l4, and transverse to the longitudinal axis of the torpedo. The three axes cross at a common point in the center of the torpedo. Except for the angular displacement, the shafts [9 are identical to. the shafts l4, and have rudders 2 I: secured there to externally of the casing I2 with a slotted yoke 22 secured to and spanning the facing ends of the shafts l9.

Along the longitudinal center line and axis of the carriage ll (and of the entire torpedo) extends a stud 23 terminating in a universal joint 24 located at the crossing point of the three axes shafts l4, shafts l9, and the torpedo axis. Universally mounted at the point 24 is a control rod 26, which extends through each of the slots l8 and 21 in the semi-circular yokes l1 and 22, respectively. A first pair of short control arms 28 extend from the control rod 26 near the base thereof, to the ends of which are universally mounted a pair of reciprocating rods 29, the position of which is controlled by any suitable control mechanism mounted on the carriage l I. A transverse pair of control arms 3| is similarly controlled by reciprocating rod 32, likewise controlled by any suitable mechanism mounted on the carriage I I. It will be readily evident that by suitable positioning of the reciprocating rods 29 and 32, the control rod 26 may be caused to assume any desired attitude in space with respect to the carriage I. Remembering that the carriage Il may be stabilized by gyroscopic means or otherwise, it will be seen that the orientation of the control rod 26 may be caused to remain fixed in spite of buifeting and rolling of the torpedo, and particularly of the torpedo casing l2.

The operation of the apparatus described thus far will now be explained. Assume that the torpedo is in the attitude shown in Fig. 1, so that the rudders [6 are in position to determine the course of the torpedo. Let it be assumed further that the control rod 26 is pointed downward at a small angle so that the rudders 2| are directed straight ahead, while the rudders l6 are deflected so as to cause the torpedo to assume a downward course. Let it be assumed that the casing or shell I2 rolls 90 clockwise in Fig. 1, i. e. clockwise when viewed from the stern of the torpedo, while the carriage I remains stabilized. The effect on the shafts l9 will be that the slot 21 of the yoke 22 slides with respect to the control rod 26 and also rotates 90 with respect thereto until the yoke 22 occupies exactly the position that was previously occupied by the yoke II. In a similar mannor, the yoke rotates 90 from its previous position and rotates and slides with respect to the control rod 26 until it occupies the position previously occupied by the yoke 22. It is readily bvious that the guidance of the torpedo will be the same as it was before the 90 rolling of the casing l2.

Furthermore, during the intermediate points of the rolling, the rudders I 6 and 2| gradually assume their respective new positions, so that at all times the net effect of the four rudders 6 and 2| is always to direct the torpedo downward while still maintaining a straight ahead course. Thus, irrespective of the rolling of the casing l2 around the carriage l the rudders I6 and 2| are always controlled so that the effective guiding influence on the torpedo is directly in line with the orientation of the control rod 26. If the rod 26 is pointed not only down but also to one side, then both sets of rudders l6 and 2| will be offset from their straight ahead positions, and this net guiding direction will be maintained in effect through all positions of rolling of the casing I2.

It is therefore seen that there has been provided a means for, translating a guiding effect from the stabilized carriage H to the exterior of the casing l2 while still permitting the casing l2 to roll freely about the carriage I.

Certain structural details omitted in the schematic drawing of Fig. 1 for simplicity of explanation, are shown in the fragmentary longitudinal sectional view Fig. 2. As a matter of practical construction, it has been found desirable to effectuate the coupling between the control rod 26 and the slots l8 and 21 of the respective yokes I! and 22, by means of intermediate bushings including roller bearings rotating about the control rod 26. For example, a bushing 4| is shaped to slide back and forth in the slot 21, the interior bore of the bushing being fitted with a roller bearing 42 which rolls around the surface of the control rod 26. A similar bushing 43 slides in slot |8 of the yoke I1, and has a corresponding roller bearing connection 44 with the control rod 26.

Another manner in which the instant invention may be practiced is illustrated in Fig. 3, wherein the control rod 26, universal joint 24, and reciprocating rods 32 and 29 are substantially the same as illustrated in Fig. 1. In this case, however, the control rod 26 may be considered as being constructed of two parts, the rod proper being pivotally mounted in a base or socket 46, the latter being the actual member which is universally mounted at 24. The rod 26 is then free to rotate in the socket 46 about its own axis. The necessity for this rotation will be brought out hereinafter.

Likewise, the paths of aligned shafts I4 and is are journalled in the casing l2, in substantially the same manner as shown in Fig. l.

The significant difference is in the nature of the yokes I1 and 22 of Fig. 1. In the Fig. 3 species, these yokes assume the form of a pair of transverse arms and 52, disposed at right angles to each other in the form of a cross. Each of the arms is slotted longitudinally at the center as shown at 53 and 54, respectively, the rod 26 passing thru the slots. Pivot pins 56 and 51 maintain rod 26 at the midpoints of arms 5| and '52 respectively. Links 58 are pivoted respectively to the end of the transverse arm 5|, the other end of each link being in turn pivotally secured to the respective, facing inward ends of the rudder control shafts M. In an identical way, links 59 are pivoted to the respective ends of transverse arm '52, the other ends of the links being pivoted to the facing ends of the aligned rudder shafts I9.

The operation of the mechanism illustrated in Fig. 3 is as follows.

Let it be assumed that the reciprocating control rods 29 and 32 are operated so as to cause the control rod 26 to deflect angularly in a longitudinal plane passing through the transverse arm 52. This movement deflects the transverse arm 5| in an arc, and causes the rudder shafts M to rotate to their new positions. Movement of this nature is permitted by the transverse arm 52 through the angular deflection of the links 59, this movement occurring without disturbing the shafts H3 in the least. In a similar way the shafts l9 may be rotated to a new position by deflection of the control rod 26 in a longitudinal plane passing through the transverse rod 5|, and finally a combination of the two control movements to any extent desired may be effected by deflecting the rod 26 in any direction.

Let it now be assumed that the control rod 26 is deflected downward in a longitudinal plane passing through the transverse arm 52 as shown in Fig. 3. Let it be assumed further that the shell I 2 rolls about its axis. Considering the movement of the arm 52, it will be seen that the links 59 which were originally deflected downward, will, as the arm 52 is turned to the position previously occupied by the arm 5| in Fig. 3, gradually be straightened up into a position paralleling the axis of the torpedo. At the same time the rudder control shafts I9 are being gradually rotated until the rudders 2| occupy the attitude formerly occupied by the rudders |6 on the shafts M. In a similar manner, the transverse arm 5|, which was initially deflected angularly so that its rudders It were deflected, will, as it is rotated 90, assume the position formerly occupied by the arm 52, so that the rudder surfaces l6 are steadily brought into undefiected position, i. e. into a longitudinal plane passing through the axis of the torpedo.

In intermediate positions-between the full 90 are movement assumed above-both rudder surfaces. l6 and 2| will be partially deflected, the net aggregate efiect of both deflections being always constant, so that the rolling of the casing |2 about its axis does not affect the guidance of the missile efiected by the rudder surfaces I 6 and 2|.

Obviously many modifications and variations of the present invention are possible in the light of the above teachings. It is therefore to be understood that within the scope of the appended claims the invention may be practiced otherwise than as specifically described.

The invention described herein may be manufactured and used by or for the Government of the United States of America for governmental purposes without the payment of any royalties thereon or therefor.

What is claimed is:

1. Control apparatus comprising a carriag casing rotatably mounted on said carriage for rolling about a first axis, a. first pair of aligned shafts journaled in said casing and disposed on an axis passing perpendicularly through said first axis, a second pair of aligned shafts journaled in said casing and disposed on an axis passing thru the juncture of said first two mentioned axe and perpendicular to each of said axes, rudder members on said shafts exteriorly of said casing, a first transverse arm extending between the facing ends of said first pair of shafts, a first pair of links connected between the respective ends of said first arm and the adjacent shaft ends, a second transverse arm extending between the facing ends of said second pair of shafts, a second pair of links connected between the respective ends of said second arm and the adjacent shaft ends, a control rod universally mounted on said carriage at the common juncture of said axes and extending thru the respective midpoints of said transverse arms, and pins pivotally securing said midpoints to said rod, whereby the effective attitude of said members with respect to said carriage is rendered independent of the rolling of said casing about said carriage.

2. Control apparatus comprising a carriage, a casing. rotatably mounted on said carriage for rolling about a first axis, a first pair of aligned shafts journaled in said casing and disposed on an axis passing perpendicularly through said first axis, a second pair of aligned shafts journaled in said casing and disposed on an axis passing thru the juncture of said first two mentioned axes and perpendicular to each of said axes, a first transverse arm extending between the facing ends of said first pair of shafts, a first pair of links connected between the respective ends of said first arm and the adjacent shaft ends, a second transverse arm extending between the facing ends of said second pair of shafts, a second pair of links connected between the respective ends of said second arm and the adjacent shaft ends, a control rod universally mounted on said carriage at the common juncture of said axes and extending thru the respective midpoints of said transverse arms, and pins pivotally securing said midpoints to said rod, whereby the effective attitude of said rudders with respect to said carriage is rendered independent of the rolling of said casing about said carriage.

3. Control apparatus comprising a carriage, a casing rotatably mounted on said carriage for rolling about a first axis, a first pair of aligned shafts journaled in said casing and disposed on a second axis passing perpendicularly through said first axis, a second pair of aligned shafts journaled in said casing and disposed on a third axis passing thru the juncture of said first two mentioned axes and perpendicular to each of said axes, a first transverse arm extending b tween the facing ends of said first pair of shafts, a first pair of links connected between the respective ends of said first arm and the adjacent shaft ends, a second transverse arm extending between the facing ends of said second pair of shafts, a second pair of links connected between the respective ends of said second arm and the adjacent shaft ends, and a control rod movably mounted on said carriage and extending thru the respective midpoints of said transverse arms, whereby the effective attitude of said shafts with respect to said carriage is rendered independent of the rolling of said casing about said carriage.

4. Control apparatus comprising a carriage, a casing rotatably mounted on said carriage for rolling about a first axis, a first pair of aligned shafts journaled in said casing and disposed on an axis passing perpendicularly through said first axis, a second pair of aligned shafts journaled in said casing and disposed on an axis passing thru the juncture of said first two mentioned axes and perpendicular to each of said axes, rudder members on said shafts exteriorly of said casing, a first slotted, generally semi-circular yoke secured to and spanning said first pair of shafts, a second slotted, generally semi-circular yoke secured to and spanning said second pair of shafts, and a control rod universally mounted on said carriage at the common juncture of said axes and extending thru the slots in said yokes to control the positioning thereof, whereby the effective attitude of said rudder members with respect to said carriage is rendered independent of the rolling of said casing about said carriage.

5. Control apparatus comprising a carriage, a casing rotatably mounted on said carriage for. rolling about a first axis, a first pair of aligned shafts journaled in said casing and disposed on an axis passing perpendicularly through said first axis, a second pair of aligned shafts journaled in said casing and disposed on an axis passing thru the juncture of said first two mentioned axes and perpendicular to each of said axes, a first slotted,

generally semi-circular yoke secured to and span-- ning said first pair of shafts, a second slotted, generally semi-circular yoke secured to and spanning said second pair of shafts, and a control rod universally mounted on said carriage at the common juncture of said axes and extending thru the slots in said yokes to control the positioning thereof, whereby the effective attitude of said shafts with respect to said carriage is rendered independent of the rolling of said casing about said carriage.

6. Control apparatus comprising a carriage, a casing rotatably mounted on said carriage for rolling about a first axis, a first pair of aligned shafts journaled in said casing and disposed on a second axis passing perpendicularly thru said first axis, a second pair of aligned shafts journaled in said casing and disposed on a third axis passing thru the juncture of said first two mentioned axes and perpendicular to each of said axes, a first slotted, generally semi-circular yoke secured to and spanning said first pair of shafts, a. second slotted, generally semi-circular yoke secured to and spanning said second pair of shafts, and a control rod movably mounted on said carriage and extending thru the slots in said yokes to control the positioning thereof, whereby the effective attitude of said shafts with respect to said carriage is rendered independent of the rolling of said casing about said carriage.

'7. A torpedo comprising a stabilized carriage, a pair of control means mounted on said carriage, an elongate torpedo shell surrounding said carriage and mounted thereon for rolling about the axis of said shell, a first pair of aligned shafts mounted pivotally, transversely, and diametrically in said shell, a second pair of aligned shafts similarly mounted in said shell at right angles to said first pair, rudders on said shafts exteriorly of said shell, a stud universally mounted on said carriage at the intersection of the axes of said first and second pairs of shafts, first push rod means connected between said stud and one of said control means to pivot said stud about its universal mounting in one plane, second push rod means connected between said stud and the other of said control means to pivot said stud in a planenormal to said one plane, a first linkage member connecting said first pair of shafts, and a second linkage memberconnecting said second pair of shafts, both of said linkage members being engaged by said stud, whereby the direction of the torpedo is controlled by said stud in two planes irrespective of the rolling of said shell about said carriage.

8. A torpedo comprising a stabilized carriage, control means mounted on said carriage, an elongate torpedo shell surrounding said carriage and mounted thereon for rolling about the axis of said shell, a first pair of aligned shafts mounted pivotally, transversely, and diametrically in said shell, a second pair of aligned shafts similarly mounted in said shell at right angles to said first pair, rudders on said shafts exteriorly of said shell, a stud universally mounted on said carriage at the intersection of the axes of said first and second pairs of shafts, push rod means connected between said stud and said control means to pivot said stud about its universal mounting, a first linkage member connecting said first pair of shafts, and a second linkage member connecting said second pair of shafts, both of said linkage members being engaged by said stud, whereby the direction of the torpedo is controlled by said stud in two planes irrespective of the rolling of said shell about said carriage.

9. A torpedo comprising a carriage, an elongate torpedo shell surrounding said carriage and mounted thereon for rolling about the axis of said shell, a first pair of aligned shafts mounted pivotally, transversely, and diametrically in said shell, a second pair of aligned shafts similarly mounted in said shell at right angles to said first pair, rudders on said shafts exteriorly of said shell, a stud universally mounted on said carriage at the intersection of the axes of said first and second pairs of shafts, a first linkage member connecting said first pair of shafts, and a second linkage member connecting said second pair .of shafts, both of said linkage members being engaged by said stud, whereby the direction of the torpedo is controlled by said stud in two planes irrespective of the rolling of said shell about said carriage.

. 10. Control apparatus comprising a carriage,

a casing rotatably mounted on said carriage for i:

rolling about a first axis, a first pair of aligned shafts journaled in said casing and disposed on an axis passing perpendicularly through said first axis, a second pair of aligned shafts journaled in said casing and disposed on an axis passing thru the juncture of said first two mentioned axes and perpendicular to each of said axes, rudder members on said shafts exteriorly of said casing, a control rod universally mounted on said carriage at the common juncture of said axes, a first linkage member connecting said first pair of shafts, and a second linkage member connecting said second pair of shafts, both of said linkage members being engaged by said control rod, whereby the effective attitude of said rudder members with respect to said carriage is rendered independent of the rolling of said casing about said carriage.

11. Control apparatus comprising a carriage, a casing rotatably mounted on said carriage for rolling about a first axis, a first pair of aligned shafts journaled in said casing and disposed on an axis passing thru the juncture of said first two mentioned axes and perpendicular to each of said axes, a control rod universally mounted on said carriage at the common juncture of said axes, a first linkage member connecting said first pair of shafts, and a second linkage member connecting said second pair of shafts, both of said linkage members being engaged by said control rod, whereby the effective attitude of said shafts with respect to said carriage is rendered independent of the rolling of said casing about said carriage.

12. Control apparatus comprising a carriage, a casing rotatably mounted on said carriage for rolling about a first axis, a first pair of aligned shafts journaled in said casing and disposed on an axis passing perpendicularly through said first axis, a second pair of aligned shafts journaled in said casing and disposed on an axis passing thru the juncture of said first two mentioned axes and perpendicular on each of said axes, a control rod movably mounted to said carriage at the common juncture of said axes, a first linkage member connecting said first pair of shafts, and a second linkage member connecting said second pair of shafts, both of said linkage members being engaged by said control rod, whereby the effective attitude of said shafts with respect to said carriage is rendered independent of the rolling of said casing about said carriage.

13. Control apparatus comprising a first body, a second body rotatably mounted on said first body about a first axis, a first yoke having a first pair of aligned shafts projecting therefrom and journaled in said second body, the axis of said first pair of shafts passing perpendicularly thru said first axis, a second yoke having a second pair of aligned shafts projecting therefrom journaled in said second body, the axis of said second pair of shafts passing thru the juncture of said first mentioned axes and perpendicular to each axis, a control rod engaging said yokes, and a universal joint at said juncture mounting said rod on said first body.

14. Control apparatus comprising a first body,

a second body rotatably mounted on said first body about a first axis, a first yoke having a first pair of aligned shafts projecting therefromand journaled in said second body, the axis of said first pair of shafts passing perpendicularly thru said first axis, a second yoke having a second pair of aligned shafts projecting therefrom journaled in said second body, the axis of said second pair of shafts passing thruthe juncture of said first mentioned axis and perpendicular to each axis, and a control rod engaging said yokes.

CHESTER 0. WHEELER.

References Cited in the file of this patent UNITED STATES PATENTS Number Name Date 1,028,644 Van Viersen June 4, 1912 1,364,911 Ardo Jan. 11, 1921 1,577,475 Liska Mar. '23, 1926 2,427,735 Naymik Sept. 23, 1947 

